org.robokind.impl.motion.openservo
Class OpenServoController

java.lang.Object
  org.robokind.api.common.property.PropertyChangeNotifier
      org.robokind.api.motion.servos.AbstractServoController<OpenServo.Id,org.robokind.api.motion.servos.config.ServoConfig<OpenServo.Id>,OpenServo,OpenServoControllerConfig>
          org.robokind.impl.motion.openservo.OpenServoController

All Implemented Interfaces:

org.robokind.api.common.property.PropertyChangeSource, org.robokind.api.motion.servos.ServoController<OpenServo.Id,org.robokind.api.motion.servos.config.ServoConfig<OpenServo.Id>,OpenServo,OpenServoControllerConfig>

public class OpenServoController
extends org.robokind.api.motion.servos.AbstractServoController<OpenServo.Id,org.robokind.api.motion.servos.config.ServoConfig<OpenServo.Id>,OpenServo,OpenServoControllerConfig>

Author:

matt

Nested Class Summary

Nested classes/interfaces inherited from interface org.robokind.api.motion.servos.ServoController

org.robokind.api.motion.servos.ServoController.Id, org.robokind.api.motion.servos.ServoController.ServoId<ServoIdType>

Field Summary

static org.robokind.api.common.config.VersionProperty	VERSION Controller type VersionProperty.
static String	VERSION_NAME Controller type version name.
static String	VERSION_NUMBER Controller type version number.

Fields inherited from class org.robokind.api.motion.servos.AbstractServoController

myChangeMonitor, myConfig, myConnectionStatus, myServoMap, myServos

Fields inherited from interface org.robokind.api.motion.servos.ServoController

PROP_CONNECTION_STATUS, PROP_ENABLED, PROP_ERROR_MESSAGES, PROP_SERVO_ADD, PROP_SERVO_REMOVE, PROP_SERVOS, PROP_VERSION

Constructor Summary

OpenServoController(OpenServoControllerConfig config)

Method Summary

void	configureServo(OpenServo.Id id, int pGain)
boolean	connect()
protected OpenServo	connectServo(org.robokind.api.motion.servos.config.ServoConfig<OpenServo.Id> config)
void	disableServo(OpenServo.Id id)
boolean	disconnect()
protected boolean	disconnectServo(org.robokind.api.motion.servos.ServoController.ServoId<OpenServo.Id> id)
void	enableServo(OpenServo.Id id)
ConcurrentOpenServoCache	getCache()
Boolean	getEnabled()
List<String>	getErrorMessages()
Class<OpenServo.Id>	getServoIdClass()
boolean	moveAllServos(long lenMillisec)
boolean	moveServo(org.robokind.api.motion.servos.ServoController.ServoId<OpenServo.Id> id, long lenMillisec)
boolean	moveServos(org.robokind.api.motion.servos.ServoController.ServoId<OpenServo.Id>[] ids, int len, int offset, long lenMillisec)
void	sendCommands(OpenServo.Id id, OpenServoCommandSet.Command... cmds)
void	setEnabled(Boolean enabled)
void	writeRegisters(OpenServo.Id id, OpenServoCommandSet.Register firstRegister, byte... data)
void	writeRegisterWords(OpenServo.Id id, OpenServoCommandSet.Register firstRegister, int... data)

Methods inherited from class org.robokind.api.motion.servos.AbstractServoController

addingServo, addServo, changeServoId, containsId, containsIds, getConfig, getConnectionStatus, getId, getServo, getServos, removeServo, removingServo, servoId, setConnectStatus

Methods inherited from class org.robokind.api.common.property.PropertyChangeNotifier

addPropertyChangeListener, addPropertyChangeListener, clearAllListeners, clearListeners, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, hasListeners, removePropertyChangeListener, removePropertyChangeListener

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface org.robokind.api.common.property.PropertyChangeSource

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

VERSION_NAME

public static final String VERSION_NAME

Controller type version name.

See Also:

Constant Field Values

VERSION_NUMBER

public static final String VERSION_NUMBER

Controller type version number.

See Also:

Constant Field Values

VERSION

public static final org.robokind.api.common.config.VersionProperty VERSION

Controller type VersionProperty.

Constructor Detail

OpenServoController

public OpenServoController(OpenServoControllerConfig config)

Method Detail

getCache

public ConcurrentOpenServoCache getCache()

connectServo

protected OpenServo connectServo(org.robokind.api.motion.servos.config.ServoConfig<OpenServo.Id> config)

Specified by:

connectServo in class org.robokind.api.motion.servos.AbstractServoController<OpenServo.Id,org.robokind.api.motion.servos.config.ServoConfig<OpenServo.Id>,OpenServo,OpenServoControllerConfig>

disconnectServo

protected boolean disconnectServo(org.robokind.api.motion.servos.ServoController.ServoId<OpenServo.Id> id)

Specified by:

disconnectServo in class org.robokind.api.motion.servos.AbstractServoController<OpenServo.Id,org.robokind.api.motion.servos.config.ServoConfig<OpenServo.Id>,OpenServo,OpenServoControllerConfig>

connect

public boolean connect()

disconnect

public boolean disconnect()

moveServo

public boolean moveServo(org.robokind.api.motion.servos.ServoController.ServoId<OpenServo.Id> id,
                         long lenMillisec)

moveServos

public boolean moveServos(org.robokind.api.motion.servos.ServoController.ServoId<OpenServo.Id>[] ids,
                          int len,
                          int offset,
                          long lenMillisec)

moveAllServos

public boolean moveAllServos(long lenMillisec)

getErrorMessages

public List<String> getErrorMessages()

setEnabled

public void setEnabled(Boolean enabled)

getEnabled

public Boolean getEnabled()

getServoIdClass

public Class<OpenServo.Id> getServoIdClass()

configureServo

public void configureServo(OpenServo.Id id,
                           int pGain)

enableServo

public void enableServo(OpenServo.Id id)

disableServo

public void disableServo(OpenServo.Id id)

sendCommands

public void sendCommands(OpenServo.Id id,
                         OpenServoCommandSet.Command... cmds)

writeRegisters

public void writeRegisters(OpenServo.Id id,
                           OpenServoCommandSet.Register firstRegister,
                           byte... data)

writeRegisterWords

public void writeRegisterWords(OpenServo.Id id,
                               OpenServoCommandSet.Register firstRegister,
                               int... data)